Control device for a gimbal and method of controlling the same

ABSTRACT

The present invention discloses a controlling device, a gimbal on which the controlling device is applied and a method for controlling a gimbal. The gimbal, for controlling an optical device to perform an action, may comprise a controlling device, a controlling assembly connected with the controlling device, and a performing assembly connected with the controlling assembly; wherein the controlling device may comprise a rocker for receiving an action instruction and generating a control instruction to be sent to the controlling assembly, the rocker may comprise a rocker handle and a potentiometer assembly connected with the rocker handle; the controlling assembly may be configured for generating a performing instruction for implementing a corresponding action according to the control instruction sent by the controlling device, and send the performing instruction to the performing assembly; the performing assembly may be configured for implementing a directional control for the optical device according to the performing instruction. The gimbal according to the present invention is easy to operate and has a good hand feeling, since the rocker is utilized to send the control instruction.

CROSS-REFERENCE

This application is a continuation of International Application No.PCT/CN2014/076674, filed on Apr. 30, 2014, which is hereby incorporatedby reference.

TECHNICAL FIELD

The invention relates to a supporting and controlling structure for usein video shooting, photo taking and/or surveillance, and in particularto a controlling device and a gimbal on which the controlling device isapplied as well as a method for controlling a gimbal.

BACKGROUND OF THE INVENTION

Currently, in the technical fields of video shooting, photo takingand/or surveillance and so on, a carrier loaded with a video camera or astill camera, for example, an aircraft, a car, a ship, a robot and ahuman body and so on, inherently has high frequency vibration and lowfrequency vibration, and thus needs to be configured with a stableself-balancing gimbal used to be loaded with the video camera, the stillcamera etc. to achieve stable shooting. Meanwhile, the gimbal is widelyused for entertainments and model airplane video shooting and so on.Excellent photos and/or videos in various directions may be shot byutilizing a plurality of keypads or remote controller to wirelesslycontrol lenses of cameras to perform directional actions such as arotation, a pitch and so on. The gimbal may be used to support suchoptical devices such as a video camera, a still camera, a telescope, aremote video camera and a measuring instrument and so on. According tooperations of these optical devices, it is necessary for the gimbal tohave stable support function and be easy to control and adjustdirections of the optical device. A dynamic self-balancing gyroscopicbiaxial or triaxial gimbal may achieve such fixation, support andorientation action.

In one prior art technique, the gimbal may shoot videos and/or photos invarious directions by using a plurality of keypads or a remotecontroller to wirelessly control the optical devices to performdirectional actions such as rotation and pitch. With the solutionutilizing keypads and remote controller wirelessly, the angle in pitchand/or rotation direction may be controlled through a plurality ofkeypads, causing a bad hand feeling and low accuracy in performingactions. In addition, a receiver is required because the remotecontroller is operated wirelessly, so that it is inconvenient tooperate, and under certain circumstances, for example, in case of ahandheld remote controller, the gimbal needs to be operated by severalpersons at the same time.

SUMMARY OF THE INVENTION

The invention provides a controlling device, a gimbal on which thecontrolling device is applied and a method for controlling the gimbalwhich are easy to operate and have a good hand feeling, so as to solvethe problems of a gimbal in the prior art that it is inconvenient tooperate and has a bad hand feeling, since a plurality of keypads or aremote controller are employed to control wirelessly the optical deviceto perform a rotation, a pitch and so on.

The technical solutions adopted by the invention in order to solvetechnical problems thereof are as follows.

According to an aspect of the invention, a gimbal for controlling anoptical device to perform an action is provided. The gimbal may comprisea controlling device, a controlling assembly connected with thecontrolling device, and a performing assembly connected with thecontrolling assembly.

In some embodiments, the controlling device may comprise a rocker forreceiving an action instruction and generating a control instruction tobe sent to the controlling assembly, wherein the rocker may comprise arocker handle and a potentiometer assembly connected with the rockerhandle.

In some embodiments, the controlling assembly may be configured forgenerating, based on the control instruction sent by the controllingdevice, a performing instruction for implementing a correspondingaction, and sending the performing instruction to the performingassembly.

In some embodiments, the performing assembly may be configured forimplementing a directional control for the optical device according tothe performing instruction.

In some embodiments, the potentiometer assembly may comprise a firstpotentiometer for controlling a pitch action of the optical device and asecond potentiometer for controlling a rotation action of the opticaldevice.

In some embodiments, the rocker may further comprise a keypad forswitching operating modes of the gimbal.

In some embodiments, the controlling device may further comprise asupport arm for supporting the rocker and a bracket located on an end ofthe support arm.

In some embodiments, the support arm is in a bucket shape.

In some embodiments, the performing assembly may comprise a firstrotation member, a second rotation member connected with the firstrotation member, a carrying member connected with the second rotationmember, a first motor for driving the second rotation member to rotaterelative to the first rotation member and a second motor for driving thecarrying member to rotate relative to the second rotation member.

According to another aspect of the invention, a controlling device forcontrolling an action of a gimbal is provided. The controlling devicemay comprise a rocker for receiving a control instruction and sendingthe control instruction to a controlling assembly, and the rocker maycomprise a rocker handle and a potentiometer assembly connected with therocker handle.

In some embodiments, the potentiometer assembly may comprise a firstpotentiometer for controlling a pitch action of an optical device viathe gimbal and a second potentiometer for controlling a rotation actionof the optical device via the gimbal.

In some embodiments, the rocker may further comprise a keypad forswitching operating modes of the gimbal.

According to a further aspect of the invention, a method for controllinga gimbal is provided for controlling an optical device to perform anaction. The method may comprise receiving an action instruction andgenerating a control instruction by a rocker. The method may alsocomprise sending the control instruction to a controlling assembly. Themethod may further comprise generating, based on the controlinstruction, a performing instruction for implementing a correspondingaction and sending the performing instruction to a performing assembly.The method may additionally comprise implementing, by the performingassembly, a directional control for the optical device according to theperforming instruction.

In some embodiments, the potentiometer assembly may comprise a firstpotentiometer for controlling a pitch action of the optical device viathe gimbal and a second potentiometer for controlling a rotation actionof the optical device via the gimbal.

In some embodiments, the rocker may further comprise a keypad forswitching operating modes of the gimbal.

The embodiments of the invention can realize the technical effects ofeasy operation and good hand feeling, since the rocker is utilized tosend the control instruction.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a structural schematic diagram of a gimbal according to anembodiment of the invention;

FIG. 2 is a perceptive view of a rocker of a gimbal according to anembodiment of the invention.

FIG. 3 is a partial structural schematic diagram of a rocker of a gimbalaccording to an embodiment of the invention;

FIG. 4 is a perceptive view of a performing assembly of a gimbalaccording to an embodiment of the invention; and

FIG. 5 is a flow chart of a method for controlling a gimbal according toan embodiment of the invention.

DETAILED DESCRIPTION OF THE INVENTION

For a clear understanding of the technical features, objects andadvantages of the invention, specific embodiments of the invention willnow be explained in detail in conjunction with the accompanyingdrawings.

According to embodiments of the invention, a gimbal is provided, whichmay be loaded with an optical device thereon, for example, a videocamera, a still camera, a telescope, a remote video camera, a measuringinstrument and so on. The gimbal may be configured for fixing theoptical device and optionally adjusting an attitude of the opticaldevice (for example, change a height, an inclination angle, a shootingdirection of the optical device and/or keep the optical device stable ina determined attitude) in order to obtain high quality videos and/orphotos and so on.

As shown in FIGS. 1 to 4, an embodiment of the invention provides agimbal 100 configured to be loaded with an optical device, to controlthe optical device to perform actions, and to implement actions of theoptical device such as pitch and/or rotation. The gimbal 100 maycomprise a controlling device 1, a controlling assembly 2 connected withthe controlling device 1, and a performing assembly 3 connected with thecontrolling assembly 2. In some embodiments, the controlling assembly 2may be disposed between the controlling device 1 and the performingassembly 3.

In some embodiments, the controlling device 1 may comprise a rocker 11configured for receiving an action instruction sent by a user andgenerating a control instruction to be sent to the controlling assembly2. The rocker 11 may comprise a rocker handle 12 as well as apotentiometer assembly 13 and a keypad 14 respectively connected withthe rocker handle 12.

In some embodiments, the rocker handle 12 may be movable along an updirection A1, along a down direction A2, along a left direction B1,along a right direction B2 and along a press direction C.

In some embodiments, the potentiometer assembly 13 may comprise a firstpotentiometer 131 configured for controlling a pitch action of theoptical device and a second potentiometer 132 configured for controllinga rotation action of the optical device.

In some embodiments, the keypad 14 may be configured for switchingoperating modes of the gimbal 100 which may comprise a follow mode and alocked mode. In the follow mode, not only a swing caused during themovement of the gimbal 100 may be filtered out, but also the shootingdirection of the optical device may follow up with the moving directionof the gimbal 100. In the locked mode, the shooting direction of theoptical device may be already locked in a specified direction (forexample, an initial direction of the optical device), regardless of howthe gimbal 100 moves. Both of the above two modes may be suitable for asingle person to shoot with the optical device and control the directionof the optical device at the same time.

In some instances, the controlling assembly 2 may be connected with thecontrolling device 1, and may be configured for generating, based on acontrol instruction sent by the controlling device 1, a performinginstruction for implementing a corresponding action, and sending theperforming instruction to the performing assembly 3.

In some instances, the performing assembly 3 may be configured forimplementing an action control for the optical device according to theperforming instruction.

Further, the controlling device 1 may also comprise a support arm 15 forsupporting the rocker 11, and a bracket 16 located on an end of thesupport arm 15. The support arm 15 may be in a hollow bucket shape.

In some instances, the performing assembly 3 may comprise a firstrotation member 304, a second rotation member 306 rotatably connectedwith the first rotation member 304, a carrying member 308 connected withthe second rotation member 306, a first motor 301 for driving the secondrotation member 306 to rotate relative to the first rotation member 304,and a second motor 302 for driving the carrying member 308 to rotaterelative to the second rotation member 306. The optical device may beloaded on the carrying member 308. The first motor 301 may drive thesecond rotation member 306 to rotate relative to the first rotationmember 304, therefore enabling the optical device loaded on the carryingmember 308 to perform a pitch action; the second motor 302 may drive thecarrying member 308 to rotate relative to the second rotation member306, therefore enabling the optical device loaded on the carrying member308 to perform a rotation action (i.e. an action of leftward orrightward tilt).

Further, in some embodiments, by controlling the rocker handle 12 in thecontrolling device 1, a user may send the rocker 11 six kinds of actioninstructions which are respectively: a short press action instruction, along press action instruction, a push-up action instruction, a push-downaction instruction, a push-left action instruction and a push-rightaction instruction. In some embodiments, the short press actioninstruction may mean that the user may press the rocker handle 12 alongthe press direction C for a short time when the rocker handle 12 is inthe middle position of the rocker 11; the long press action instructionmay mean that the user may press the rocker handle 12 along the pressdirection C for a long time when the rocker handle 12 is in a non-middleposition of the rocker 11. In some embodiments, the “short time” may beless than 3 seconds; and the “long time” may be longer than 3 seconds.Of course, the duration of the “short time” and “long time” may beadjusted according to actual requirements. With regard to the middleposition of the rocker 11, the push-up action instruction may mean thatthe user may push the rocker handle 12 along the up direction A1; thepush-down action instruction may mean that the user may push the rockerhandle 12 along the down direction A2; the push-left action instructionmay mean that the user may push the rocker handle 12 along the leftdirection B1; and the push-right action instruction may mean that theuser may push the rocker handle 12 along the right direction B2.

In some instances, when the user sends the push-up action instruction tothe rocker 11, that is, the user pushes the rocker handle 12 to movealong the up direction A1, the first motor 301 may accelerate forwardly.

In some instances, when the user sends the push-down action instructionto the rocker 11, that is, the user pushes the rocker handle 12 to movealong the down direction A2, the first motor 301 may acceleratereversely.

In some instances, when the user sends the push-left action instructionto the rocker 11, that is, the user pushes the rocker handle 12 to movealong the left direction B1, the second motor 302 may accelerateforwardly.

In some instances, when the user sends the push-right action instructionto the rocker 11, that is, the user pushes the rocker handle 12 to movealong the right direction B2, the second motor 302 may acceleratereversely.

In some instances, when the rocker handle 12 is in the middle positionand the user sends the short press action instruction to the rocker 11,that is, the user presses the rocker handle 12 along the press directionC for a short time, the gimbal 100 may be switched from one operatingmode to another operating mode. In some embodiments, the gimbal 100 mayhave two operating modes comprising a follow mode and a locked model.For example, when the gimbal 100 is in the follow mode, if the usersends the short press action instruction to the rocker 11, the operatingmode of the gimbal 100 may be switched to the locked mode.Alternatively, when the gimbal 100 is in the locked mode, if the usersends the short press action instruction to the rocker 11, the operatingmode of the gimbal 100 may be switched to the follow mode.

When the rocker handle 12 is in a non-middle position, if the user sendsthe long press action instruction to the rocker 11, the rocker handle 12may return to the middle position.

In addition, when the rocker handle 12 is in the middle position, thefirst motor 301 and the second motor 302 may be in a stationary statebut powered so as to hold torque.

In some embodiments, control instructions of the controlling device 1may comprise a look-up control instruction, a look-down controlinstruction, a leftward-tilt control instruction, a rightward-tiltcontrol instruction, a back-to-middle control instruction and a switchcontrol instruction.

In some embodiments, performing instructions of the controlling assembly2 may comprise a look-up performing instruction, a look-down performinginstruction, a leftward-tilt performing instruction, a rightward-tiltperforming instruction, a hold performing instruction and a switchperforming instruction.

In particular in use, as the user sends the push-up action instructionto the rocker 11, that is, the user pushes the rocker handle 12 to movealong the up direction A1, the rocker handle 12 may contact with thefirst potentiometer 131, and the rocker handle 12 may send the look-upcontrol instruction to the controlling assembly 2 via the firstpotentiometer 131; the controlling assembly 2, after receiving thelook-up control instruction, may generate the look-up performinginstruction for enabling the gimbal 100 to perform the look-up action,and send the look-up performing instruction to the performing assembly3; the performing assembly 3, after receiving the look-up performinginstruction, may control the gimbal 100 to perform the look-up action,that is, the first motor 301 may drive the second rotation member 306 torotate clockwise relative to the first rotation member 304, thereforeenabling the optical device loaded on the carrying member 308 toimplement the look-up action to obtain videos and/or photos atcorresponding angle of view and so on. Technical solutions that thecontrolling assembly 2 receives control instructions and sendsperforming instructions are well known in the present industry and willnot be described herein.

In some instances, as the user sends the push-down action instruction tothe rocker 11, the rocker handle 12 may contact with the firstpotentiometer 131, and the rocker handle 12 sends the look-down controlinstruction to the controlling assembly 2 via the first potentiometer131; the controlling assembly 2, after receiving the look-down controlinstruction, may generate the look-down performing instruction forenabling the gimbal 100 to perform a look-down action, and send thelook-down performing instruction to the performing assembly 3; theperforming assembly 3, after receiving the look-down performinginstruction, may control the gimbal 100 to perform the look-down action,that is, the first motor 301 may drive the second rotation member 306 torotate counterclockwise relative to the first rotation member 304,therefore enabling the optical device loaded on the carrying member 308to implement the corresponding look-down action to obtain videos and/orphotos at corresponding more suitable angle of view and so on.

In some instances, as the user sends the push-left action instruction tothe rocker 11, the rocker handle 12 may contact with the secondpotentiometer 132, and the rocker handle 12 may send the leftward-tiltcontrol instruction to the controlling assembly 2 via the secondpotentiometer 132; the controlling assembly 2, after receiving theleftward-tilt control instruction, may generate the leftward-tiltperforming instruction for enabling the gimbal 100 to perform aleftward-tilt action, and send the leftward-tilt performing instructionto the performing assembly 3; the performing assembly 3, after receivingthe leftward-tilt performing instruction, may control the gimbal 100 toperform the leftward-tilt action, that is, the second motor 302 maydrive the carrying member 308 to rotate clockwise relative to the secondrotation member 306, therefore enabling the optical device loaded on thecarrying member 308 to implement the corresponding leftward-tilt actionto obtain videos and/or photos at corresponding more suitable angle ofview and so on.

In some instances, as the user sends the push-right action instructionto the rocker 11, the rocker handle 12 may contact with the secondpotentiometer 132, and the rocker handle 12 may send the rightward-tiltcontrol instruction to the controlling assembly 2 via the secondpotentiometer 132; the controlling assembly 2, after receiving therightward-tilt control instruction, may generate the rightward-tiltperforming instruction for enabling the gimbal 100 to perform arightward-tilt action, and send the rightward-tilt performinginstruction to the performing assembly 3; the performing assembly 3,after receiving the rightward-tilt performing instruction, may controlthe gimbal 100 to perform the rightward-tilt action, that is, the secondmotor 302 may drive the carrying member 308 to rotate towards the rightrelative to the second rotation member 306, therefore enabling theoptical device loaded on the carrying member 308 to implement thecorresponding action of rotating towards the right to obtain videosand/or photos at corresponding more suitable angle of view and so on.

In some instances, when the rocker handle 12 is in the middle positionand the user sends the short press action instruction to the rocker 11,the rocker handle 12 may contact with the keypad 14, and the rockerhandle 12 may send the switch control instruction to the controllingassembly 2 via the keypad 14. The controlling assembly 2, afterreceiving the switch control instruction, may generate the switchperforming instruction for enabling the gimbal 100 to perform operatingmode switch, and send the switch performing instruction to theperforming assembly 3. The performing assembly 3, after receiving theswitch performing instruction, may switch operating mode of the gimbal100. For example, when the gimbal 100 is in the follow mode, if the usersends the short press action instruction to the rocker 11, the operatingmode of the gimbal 100 may be switched to the locked mode.Alternatively, in some embodiments, when the gimbal 100 is in the lockedmode, if the user sends the short press action instruction to the rocker11, the operating mode of the gimbal 100 may be switched to the followmode.

In some instances, when the rocker handle 12 is held in the positiontowards the up direction A1 or the down direction A2 from the middleposition, if the user sends the long press action instruction to therocker 11, the rocker handle 12 presses the first potentiometer 131 fora long time, and the rocker handle 12 may send the back-to-middlecontrol instruction to the controlling assembly 2 via the firstpotentiometer 131. The controlling assembly 2, after receiving theback-to-middle control instruction, may generate the hold performinginstruction for enabling the gimbal 100 to hold the current attitude,and send the hold performing instruction to the preforming assembly 3.After the performing assembly 3 receives the hold performinginstruction, the first motor 301 may be in a stationary state butpowered so as to hold torque. At this time, the rocker handle 12 mayreturn to the middle position.

In some instances, when the rocker handle 12 is held in the positiontowards the left direction B1 or the right direction B2 from the middleposition, if the user sends the long press action instruction to therocker 11, the rocker handler 12 may press the second potentiometer 132for a long time, and the rocker handle 12 may send the back-to-middlecontrol instruction to the controlling assembly 2 via the secondpotentiometer 132. The controlling assembly 2, after receiving theback-to-middle control instruction, may generate the hold performinginstruction for enabling the gimbal 100 to hold the current attitude andsend the hold performing instruction to the performing assembly 3. Afterthe performing assembly 3 receives the hold performing instruction, thesecond motor 302 may be in a stationary state but powered so as to holdtorque. At this time, the rocker handle 12 may return to the middleposition.

The gimbal 100 according to some embodiments of the invention is notonly easy to operate, but also has a good hand feeling, since the rocker11 is utilized to send the control instruction.

Referring to FIGS. 1 to 5, an embodiment of the invention also providesa method for controlling the gimbal 100, for controlling an opticaldevice to perform action, the method may comprise the following steps:

S1: receiving an action instruction and generating a control instructionby the rocker 11. In some embodiments, the rocker 11 may comprise arocker handle 12 as well as a potentiometer assembly 13 and a keypad 14connected with the rocker handle 12. The potentiometer assembly 13 maycomprise a first potentiometer 131 for controlling a pitch action of theoptical device via the gimbal 100 and a second potentiometer 132 forcontrolling a rotation action of the optical device via the gimbal 100.In some embodiments, the keypad 14 may be configured for switchingoperating modes of the gimbal 100.

The user may send the rocker 11 six kinds of action instructions, whichmay be respectively: a short press action instruction, a long pressaction instruction, a push-up action instruction, a push-down actioninstruction, a push-left action instruction and a push-right actioninstruction.

In some embodiments, the control instructions may be respectively: alook-up control instruction, a look-down control instruction, aleftward-tilt control instruction, a rightward-tilt control instruction,a back-to-middle control instruction, and a switch control instruction.

In some embodiments, when the user sends the push-up action instructionto the rocker 11, that is, the user pushes the rocker handle 12 to movealong the up direction A1, the rocker handle 12 may contact with thefirst potentiometer 131, therefore generating the look-up controlinstruction.

In some embodiments, when the user sends the push-down actioninstruction to the rocker 11, that is, the user pushes the rocker handle12 to move along the down direction A2, the rocker handle 12 may contactwith the first potentiometer 131, therefore generating the look-downcontrol instruction.

In some embodiments, when the user sends the push-left actioninstruction to the rocker 11, that is, the user pushes the rocker handle12 to move along the left direction B1, the rocker handle 12 may contactwith the second potentiometer 132, therefore generating theleftward-tilt control instruction.

In some embodiments, when the user sends the push-right actioninstruction to the rocker 11, that is, the user pushes the rocker handle12 to move along the right direction B2, the rocker handle 12 maycontact with the second potentiometer 132, therefore generating therightward-tilt control instruction.

In some instances, when the rocker handle 12 is in the middle positionand the user sends the short press action instruction to the rocker 11,that is, the user presses the rocker handle 12 for a short time, therocker handle 12 may contact with the keypad 14, therefore generatingthe switch control instruction. The gimbal 100 may be switched from oneoperating mode to another operating mode. In some embodiments, thegimbal 100 may have two operating modes comprising a follow mode and alocked mode. For example, when the gimbal 100 is in the follow mode, ifthe user sends the short press action instruction to the rocker 11, theoperating mode of the gimbal 11 may be switched to the locked mode.Alternatively, when the gimbal 100 is in the locked mode, if the usersends the short press action instruction to the rocker 11, the operatingmode of the gimbal 100 may be switched to the follow mode.

In some instances, when the rocker handle is in a non-middle position,as the user sends the long press action instruction to the rocker 11,the rocker handle 2 may contact with the first potentiometer 131 or thesecond potentiometer 132, therefore generating the back-to-middlecontrol instruction. The rocker handle 12 may return to the middleposition.

In addition, when the rocker handle 12 is in the middle position, thefirst motor 301 and the second motor 302 may be in a stationary statebut powered so as to hold torque.

S2: sending the control instruction to a controlling assembly 2;

In some instances, as the user operates the rocker 11 to push it to movetowards the up direction A1 through the rocker handle 12, the rocker 11may send a control instruction for a look-up action to the controllingassembly 2 via the first potentiometer 131. As the user operates therocker 11 to push it to move towards the down direction A2 through therocker handle 12, the rocker 11 may send a control instruction for alook-down action to the controlling assembly 2 via the firstpotentiometer 131. As the user operates the rocker 11 to push it to movetowards the left direction B1 through the rocker handle 12, the rocker11 may send a control instruction for a left-rotating action to thecontrolling assembly 2 via the second potentiometer 132. As the useroperates the rocker 11 to push it to move towards the right direction B2through the rocker handle 12, the rocker 11 may send a controlinstruction for a right-rotating action to the controlling assembly 2via the second potentiometer 132. When the rocker 11 is in the middleposition, as the user presses the rocker handle 12 for a short time, therocker 11 may send the switch control instruction to the controllingassembly 2 via the keypad 14. When the rocker 11 is in a non-middleposition, as the user presses the rocker handle 12 for a long time, therocker 11 may send the back-to-middle control instruction to thecontrolling assembly 2 via the first potentiometer 131 or the secondpotentiometer 132.

S3: generating, based on the control instruction, a performinginstruction for implementing a corresponding action, and sending thepreforming instruction to the performing assembly 3.

In some embodiments, the performing instructions of the controllingassembly 2 may comprise a look-up performing instruction, a look-downperforming instruction, a leftward-tilt performing instruction, arightward-tilt performing instruction, a hold performing instruction anda switch performing instruction.

In some instances, the controlling assembly 2, after receiving thelook-up control instruction, may generate the look-up performinginstruction for enabling the gimbal 100 to perform a look-up action andsend the look-up performing instruction to the performing assembly 3.

In some instances, the controlling assembly 2, after receiving thelook-down control instruction, may generate the look-down performinginstruction for enabling the gimbal 100 to perform a look-down actionand send the look-down performing instruction to the performing assembly3.

In some instances, the controlling assembly 2, after receiving theleftward-tilt control instruction, may generate the leftward-tiltperforming instruction for enabling the gimbal 100 to perform aleftward-tilt action and send the leftward-tilt performing instructionto the performing assembly 3.

In some instances, the controlling assembly 2, after receiving therightward-tilt control instruction, may generate the rightward-tiltperforming instruction for enabling the gimbal 100 to perform arightward-tilt action and send the rightward-tilt performing instructionto the performing assembly 3.

In some instances, the controlling assembly 2, after receiving theback-to-middle control instruction, may generate the hold performinginstruction for enabling the gimbal 100 to hold the current attitude andsend the hold performing instruction to the performing assembly 3.

In some instances, the controlling assembly 2, after receiving theswitch control instruction, may generate the switch performinginstruction for enabling the gimbal 100 to perform operating mode switchand send the switch performing instruction to the performing assembly 3.

S4: implementing a directional control for the optical device accordingto the performing instruction by the performing assembly 3.

In some instances, the performing assembly 3, after receiving thelook-up performing instruction, may control the gimbal 100 to perform alook-up action, that is, the first motor 301 may drive the secondrotation member 306 to rotate clockwise relative to the first rotationmember 304, therefore enabling the optical device loaded on the carryingmember 308 to implement a corresponding look-up action, to obtain videosand/or photos at corresponding angle of view and so on. The technicalsolutions that the controlling assembly 2 receives control instructionsand sends performing instructions are well known in the present industryand will not be described herein.

In some instances, the preforming assembly 3, after receiving thelook-down performing instruction, may control the gimbal 100 to performa look-down action, that is, the first motor 301 may drive the secondrotation member 306 to rotate counterclockwise relative to the firstrotation member 304, therefore enabling the optical device loaded on thecarrying member 308 to implement the corresponding look-down action, toobtain videos and/or photos at corresponding more suitable angle ofview.

In some instances, the preforming assembly 3, after receiving theleftward-tilt performing instruction, may control the gimbal 100 toperform a left-rotating action, that is, the second motor 302 may drivethe carrying member 308 to rotate clockwise relative to the secondrotation member 306, therefore enabling the optical device loaded on thecarrying member 308 to implement the corresponding left-rotating action,to obtain videos and/or photos at corresponding more suitable angle ofview.

In some instances, the preforming assembly 3, after receiving therightward-tilt performing instruction, may control the gimbal 100 toperform a right-rotating action, that is, the second motor 302 may drivethe carrying member 308 to rotate counterclockwise relative to thesecond rotation member 306, therefore enabling the optical device loadedon the carrying member 308 to implement the corresponding right-rotatingaction, to obtain videos and/or photos at corresponding more suitableangle of view.

In some instances, the performing assembly 3, after receiving the holdperforming instruction, may control the gimbal 100 to hold the currentattitude, that is, the first motor 301 and the second motor 302 may bein the stationary state but powered so as to hold torque.

In some instances, the performing assembly 3, after receiving the switchperforming instruction, may switch the current operating mode of thegimbal 100. For example, when the gimbal 100 is in the follow mode, theoperating mode of the gimbal may be switched to the locked mode.Alternatively, when the gimbal is in the locked mode, the operating modeof the gimbal 100 may be switched to the follow mode.

The method for operating gimbal 100 according to an embodiment of theinvention is not only easy to operate, but also has a good hand feeling,since the rocker 11 is utilized to send the control instruction.

While the preferred embodiments of the present invention have beendescribed in connection with the drawings above, the protection scope ofthe present invention is not limited thereto. The embodiments are merelyillustrative, but not limiting. Any equivalent modifications andvariations, which are made by those skilled in the art according to theteachings disclosed in the present invention without departing from thepurpose and the scope protected by the claims of the invention, shallfall into the protection scope set forth in the claims of the invention.

What is claimed is:
 1. A gimbal for controlling an optical device, saidgimbal comprising: a rocker for receiving an action instruction andgenerating a control instruction, wherein the rocker comprises a rockerhandle and a potentiometer assembly operably connected to the rockerhandle; a controlling assembly configured to (1) receive the controlinstruction from the rocker, and (2) generate, based on the controlinstruction, a performing instruction for controlling the opticaldevice; and a performing assembly configured to (1) receive theperforming instruction from the controlling assembly, and (2) implementa directional control of the optical device in accordance with theperforming instruction.
 2. The gimbal according to claim 1, wherein thepotentiometer assembly comprises a first potentiometer configured tocontrol a pitch action of the optical device, and a second potentiometerconfigured to control a rotation action of the optical device.
 3. Thegimbal according to claim 1, wherein the rocker further comprises akeypad for switching operating modes of the gimbal.
 4. The gimbalaccording to claim 3, wherein the rocker handle is operably coupled tothe keypad to generate a switch control instruction for switching theoperating modes of the gimbal.
 5. The gimbal according to claim 3,wherein the operating modes of the gimbal comprise: (1) a follow mode inwhich a shooting direction of the optical device follows a movingdirection of the gimbal and (2) a locked mode in which the shootingdirection of the optical device is locked in a specified directionregardless of movement of the gimbal.
 6. The gimbal according to claim1, further comprising a support arm for supporting the rocker and abracket located on an end of the support arm.
 7. The gimbal according toclaim 6, wherein the support arm has a bucket shape.
 8. The gimbalaccording to claim 1, wherein the performing assembly comprises a firstrotation member, a second rotation member connected with the firstrotation member, a carrying member connected with the second rotationmember, a first motor for driving the second rotation member to rotaterelative to the first rotation member and a second motor for driving thecarrying member to rotate relative to the second rotation member.
 9. Acontrolling device for controlling an action of a gimbal, saidcontrolling device comprising: a rocker for receiving a controlinstruction and sending the control instruction to a controllingassembly to effect action of the gimbal, wherein the rocker comprises arocker handle and a potentiometer assembly connected with the rockerhandle.
 10. The controlling device according to claim 9, wherein thepotentiometer assembly comprises a first potentiometer for controlling apitch action of an optical device via the gimbal and a secondpotentiometer for controlling a rotation action of the optical devicevia the gimbal.
 11. The controlling device according to claim 10,wherein the rocker further comprises a keypad for switching operatingmodes of the gimbal.
 12. The controlling device according to claim 11,wherein the rocker handle is operably coupled to the keypad to generatea switch control instruction for switching the operating modes of thegimbal.
 13. The controlling device according to claim 11, wherein theoperating modes of the gimbal comprise: (1) a follow mode in which ashooting direction of the optical device follows a moving direction ofthe gimbal and (2) a locked mode in which the shooting direction of theoptical device is locked in a specified direction regardless of movementof the gimbal.
 14. A method for controlling an optical device, saidmethod comprising: receiving an action instruction and generating acontrol instruction by a rocker; sending the control instruction to acontrolling assembly; generating, based on the control instruction, aperforming instruction for a directional control of the optical device;sending the performing instruction to a performing assembly; andimplementing, with aid of the performing assembly, the directionalcontrol for the optical device according to the performing instruction.15. The method according to claim 14, wherein the performing assemblycomprises a first rotation member, a second rotation member connectedwith the first rotation member, a carrying member connected with thesecond rotation member, a first motor for driving the second rotationmember to rotate relative to the first rotation member and a secondmotor for driving the carrying member to rotate relative to the secondrotation member.
 16. The method according to claim 14, wherein therocker comprises a potentiometer assembly which comprises a firstpotentiometer for controlling a pitch action of the optical device viathe gimbal and a second potentiometer for controlling a rotation actionof the optical device via the gimbal.
 17. The method according to claim16, wherein the rocker further comprises a keypad for switchingoperating modes of the gimbal.
 18. The method according to claim 17,wherein the rocker further comprise a rocker handle connected with thepotentiometer assembly.
 19. The method according to claim 18, whereinthe rocker handle is operably connected with the keypad to generate aswitch control instruction for switching the operating modes of thegimbal.
 20. The method according to claim 17, wherein the operatingmodes of the gimbal comprise: (1) a follow mode in which a shootingdirection of the optical device follows a moving direction of the gimbaland (2) a locked mode in which the shooting direction of the opticaldevice is locked in a specified direction regardless of movement of thegimbal.